Figure 2 car mirror wiper system with H infinity Loop shaping design using Glover-McFarlane method
A feedback controller, KS, is synthesized that robustly stabilizes the normalized left cop rime factorization of G, with a balance margin. It may be proven that the frequency response of KsW2GW1 will be much like that of W2GW1. On the other hand, if the viable gain is simply too large, this will probable indicate an overdesigned case in appreciate of the robustness, which means that the performance of the system can also in all likelihood be progressed by the usage of a larger in computing Ks. The final feedback controller, Kfinal, is then constructed with the aid of combining the H infinity controller Ks, with the weighting functions W1 and W2 such that
We choose a precompensator, W1, and a postcompensator, W2 transfer functions as
The H infinity controller transfer function is
Robust Pole Placement Controller Design
In a typical feedback manage system, the output, y, is fed back to the summing junction. It is now that the topology of the layout changes. Instead of feeding again y, what if we feed back all of the state variables? If each state variable is fed back to the manipulated, u, through a gain, ki, there might be n gains, ki that would be adjusted to yield the required closed-loop pole values. The feedback via the profits, ki, is represented by way of the feedback vector -K.
The block diagram of the car mirror wiper system with robust pole placement method is shown in Figure 3.